Apparatus and method for penetration with shaft having a sensor for sensing penetration depth

ABSTRACT

An apparatus having a shaft that can sense the depth of penetration, for penetrating into an object (the substrate). The substrate being penetrated has impedance that varies according to the depth under a surface of the substrate. The shaft has a tip for penetration and has conductive ends near to the tip of the shaft. A change of impedance of material of the object between the conductive ends can be sensed to provide information on the depth of penetration. A processor can be provided external to the object being penetrated by the shaft to gather and process the impedance information to determine whether the desired depth has been achieved.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. Ser. No. 10/008,159 filedNov. 6, 2001 now U.S. Pat. No. 7,780,631, which is a continuation ofU.S. Ser. No. 09/050,853 filed Mar. 30, 1998 (now U.S. Pat. No.6,391,005), both of which applications are fully incorporated herein byreference.

FIELD OF THE INVENTION

The present invention is related to techniques for penetration of anobject with a shaft and more particularly to apparatuses and methods fordetermining the penetration depth of a hypodermic needle.

BACKGROUND OF THE INVENTION

When inserting a long structure into an object, such as a needle intothe tissue of a patient, it is often necessary to know how deep thepenetration is. Penetration past the required depth for a desired resultwastes effort and causes undue discomfort to the patient. Often theinformation is needed in a short time because further penetration maycause unnecessary damage to the object and it is desirable to stop thepenetration once a predetermined depth is reached. For example, theanalysis and quantification of blood components is an importantdiagnostic tool for better understanding the physical condition of apatient and blood samples need to be obtained by inflicting a wound by aneedle or lancet. Inserting the needle or lancet to a depth deeper thannecessary produces excessive pain and trauma to the skin tissue. Inpatients such as diabetics, who have to sample blood often, anyexcessive pain or tissue trauma is a disincentive to comply with theblood sampling routine.

The skin is consisted of two layers—the epidermis and the dermis. Thecapillary structures connected to the arterial and venous vascular bedsrise vertically and are located in the dermis layer. The neural sensorssuch as Meissner's corpuscles and free nerve endings are also located inthe dermis. Layers of subcutaneous tissues lie below the dermis. Thesupply arterial and venous capillaries are located laterally in thistissue bed. There is also adipose tissue interleaved with afferent andefferent nerve fibers along with their associated sensors interwovenwithin the vascular bed. The thicknesses of these tissue layers differfrom individual to individual. Currently, commercially available needleor lancet for puncturing skin have preset penetration depth based onexperimental data from lancing, thus, there is no certainty that theoptimal depth of penetration is reached every time such a needle orlancet is used. To avoid unsuccessful blood sampling due to inadequatedepth, a patient often overpenetrates the skin, causing unnecessarypain.

What is needed is a needle or lancet for sampling blood that can be usedfor inserting to the optimal depth without over or under penetration.Similarly, there is a need in other penetration applications forinserting a long shaft into an object without over or under penetration.

SUMMARY OF THE INVENTION

In the present invention, the depth of penetration of an elongatedstructure into an object is determined by an impedance sensor thatsenses the impedance of the material penetrated by the elongatedstructure at the tip of the elongated structure.

In one aspect, the present invention provides an apparatus having ashaft for penetration into an object which has impedance that variesaccording to the depth under a surface of the object. The apparatuscontains a shaft that includes a shaft body having a tip for penetrationand two conductive ends near the tip. The two conductive ends are nearthe tip such that a change of impedance of the material of the objectsensed between the conductive ends will provide information on whetherthe desired depth of penetration has been reached.

This invention is especially applicable in obtaining blood from apatient by puncturing the skin because a shaft of the present inventiontakes advantage of the electrical impedance differences between deeperlayers of skin tissue relative to the more shallow upper layer. Theimpedance can be monitored by, for example, a metallic needle thatpierces the layers of skin tissue. When the needle initially penetratesinto the outer epidermis and dermis layers of the skin, an initial highimpedance is seen. A decline in the impedance is observed as the needleapproaches the adipose layer.

Using the apparatus, including the shaft of the present invention,optimal penetration into an object that has electrical impedance whichvaries with penetration depth can be achieved. In the case of obtainingblood from a patient by inserting a needle into the skin, this canminimize the trauma and pain of overpenetration, as well as avoid thefrustration and pain of unsuccessful blood sampling because ofinadequate penetration. Such reduction of discomfort and tissue damagecan significantly improve the compliance of patients with a bloodsampling routine, for example.

BRIEF DESCRIPTION OF THE DRAWINGS

The following figures are included to better illustrate the embodimentsof the apparatus and technique of the present invention. In thesefigures, like numerals represent like features in the several views.

FIG. 1 shows an embodiment of an apparatus of the present invention.

FIGS. 2A and 2B show an embodiment of a shaft of the present invention:

FIG. 3 shows another embodiment of a shaft of the present invention.

FIG. 4 shows yet another embodiment of a shaft of the present invention.

FIGS. 5A and 5B show a lancet of the present invention.

FIGS. 6A and 6B show apparatuses including an embodiment of a driver fordriving a shaft according to the present invention.

FIG. 7A shows an apparatus including an embodiment of a driver fordriving a shaft.

FIG. 7B shows an apparatus including a portion of an embodiment of adriver for driving a shaft.

FIG. 8 shows an apparatus including a portion of a piezoelectric driverfor driving a shaft.

FIG. 9 shows an apparatus including a portion of a fluid-driven driverfor driving a shaft.

FIG. 10 shows a flow diagram for an algorithm for controlling the driverfor driving a shaft according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION

In one aspect, the present invention provides a technique for sensingthe depth of penetration when inserting a shaft into a body. As usedherein, the term “shaft” refers to an object with a generally elongatedbody with a tip for penetrating the body of interest. The body of theshaft, depending on the application, can be rigid or somewhat flexible.Preferably, the tip has a relative sharp point or beveled lancet tofacilitate penetration. The point is adequate sharp such that the shaftcan be pushed into the body without the need for passing along apreexisting hole. The body of the shaft can have a cross section that isround or non-round (e.g., having a rectangular cross section). As anexample, a needle-sized shaft suitable for hypodermic insertion isdescribed in the following embodiments. It is to be understood thatother non-hypodermic shafts, including shafts for non-medical purposes,can be made and used according to the present invention.

Needles and Lancets

FIG. 1 shows an embodiment of an apparatus for driving a shaft forpenetrating skin according to the present invention. In FIG. 1, theapparatus 100 includes a shaft 102 (e.g., a needle or lancet) withconductive ends for sensing the impedance of tissue about the tip 103 ofthe shaft 102. An impedance sensor 104 (which includes electricalcircuitry that senses impedance) electrically connected to theconductive ends senses the electrical impedance: Electrical devices andcircuits that sense the electrical impedance between two points, e.g.,in a material or in a circuit, are known in the art. An electricallycontrolled driver 106 drives the shaft 102 to penetrate the skin of thepatient and tissue under it, which can be referred to as the “substrate”of penetration. The driver 106 is controlled by a processor 108, whichstops the driver when the impedance sensor 104 senses an impedancechange indicating the desired penetration has been achieved.

For illustration, FIG. 2A shows an embodiment of a portion of ahypodermic needle 110 that can be used in the present invention, e.g.,as the shaft 102 in the apparatus 100. FIG. 2A is a sectional view alongthe axis of the hypodermic needle 110 and FIG. 2B shows a cross sectionof the hypodermic needle 110. The hypodermic needle 110 includes a stiffshaft body 112 having a sharp tip 114 at the distal end 115 forpenetration into tissue. The shaft body 112 has a stiff, electricallynon-conductive (e.g., polymeric, such as polyimide) tubing 116 with acentral lumen 118 at the axis of the tubing 116. An electricallyconductive (e.g., metallic tungsten) wire 120 located at the approximateaxis of the tubing 116 extends from the sharp tip 114 proximally. Thetungsten wire 120 has a distal conductive end 123 proximate to thedistal end 115. As used herein, the term “distal” refers to thedirection towards the object (e.g. the patient's skin) when the needleis about to penetrate the object and the term “proximal” refers to thedirection opposite to that of “distal,” therefore away from the object.An electrically conductive coating 122 (e.g., chrome/gold platedcoating) is disposed on the outer surface of the nonconductive tubing116 and has conductive end 125 at the tip 114. An adhesive 124 (see FIG.2A), preferably electrically conductive, such as a silver epoxy, is usedto attach the distal end of the electrically conductive wire 120 to thedistal end 115 of the hypodermic needle 110.

Furthermore, if desired, a chamber or reservoir can be connected to thelumen 118 for collection of the fluid that may conduct through thelumen. This chamber or reservoir can be a nonconductive bag, a syringe,other tubings connected to the lumen, and the like.

Such a hypodermic needle can be made by, for example, electroplating apolyimide tubing to deposit the electrically conductive coating on thepolyimide tubing and inserting, for example, a tungsten wire into thepolyimide tubing and affixing an end of the wire to the distal end ofthe hypodermic needle with a silver epoxy. The distal end can besharpened after all the conductive materials are in place. The proximalend of the electrically conductive wire 120 and the proximal end of theelectrically conductive coating 122 can be connected to the impedancesensor 104 in the apparatus 100, or other similar equipment for sensingthe penetration depth of the hypodermic needle 110. Other suitablematerials for making the electrically conductive coating include, forexample, silver, nickel, platinum, titanium, and tungsten. Materialssuitable for making the electrically conductive wire include, forexample, silver, nickel, platinum, titanium, gold, copper, aluminum, andtungsten.

In another embodiment, as shown in FIG. 3, a solid needle assembly 126can be made by filling the lumen 127 of a hollow nonconductive needle128 with a conductive material 130 and coating on the non-conductiveneedle with a metallic coating 132. The resultant elongated structurecan be modified to produce a sharp tip. Alternatively, a non-conductivematerial can be coated on a stiff metallic wire and then an outer coatof conductive metal can be coated on the non-conductive material to forma solid needle. Such a needle will have a structure similar to thatshown in FIG. 3, which shows a cross section of the shaft.

To further stiffen a needle shaft for penetration, the needle havingconductors leading to the distal end can be further coated with amaterial that provides additional rigidity. Many hard materials, such asmetals or alloys are known in the art. An example of a material suitablefor providing such additional rigidity is titanium nitride.

FIG. 4 shows another embodiment of a hypodermic needle of the presentinvention. In the hypodermic needle 134 shown in FIG. 4, an innerelectrically conductive tubing 136 with a lumen 138 has a coating of anon-conductive material 140 electrically insulating the inner-WM-rig-136from an electrically conductive coating 142 that is more remote from theaxis. This hypodermic needle 134 can be made by coating, e.g., a steelneedle with a non-conductive material and then sputtering a metalliccoating on the electrically non-conductive material and furtherelectroplating to form the outer electrically conductive coating 142.

FIGS. 5A (a side view) and 5B (a front view) show yet another embodimentin which a shaft suitable for inserting into the skin of a patient hasconductors for sensing impedance of the tissue surrounding the tip ofthe shaft. The shaft 144 has a rectangular cross section (see the frontview of FIG. 5B) and has a central part 146 made of a stiffnon-conductive material extending lengthwise along the shaft 144sandwiched between two conductors 148A and 148B. The central part has asharp tip 148 leading into a sharp edge 150 for cutting into a skin.Such a shaft can be used as a lancet for cutting a wound in the skin toyield blood.

Mechanisms for Driving the Shaft

A wide variety of drivers can be used to drive the shaft (includingneedles, lancets, blades) of the present invention. Such drivers can beelectrically controlled such that when the desired depth has beenachieved, the driver can be stopped, preferably, automatically. In thisway, the depth of penetration can be optimized so that minimalpenetration is used to achieve the desired result, such as drawing bloodfrom a patient with the infliction of a minimal amount of pain and woundsize. Examples of mechanisms that can be used for the driver includepneumatic, electromechanical, and piezoelectric mechanisms.

FIG. 6A shows an apparatus with a driver for driving a shaft continuallywith a threaded mechanism. In the embodiment of FIG. 6A, the shaft 150is affixed to a base 152 rigidly linked to a sleeve 154, which mateswith a threaded rod 156. The threads of the sleeve 154 are so engagedwith the threads of the threaded rod 156 such that the rotation of thethreaded rod 156 will move the sleeve 154 along the threaded rod 156axially. Therefore, a motor 158 that drives the rotation of threaded rod156 in a direction (e.g. clockwise rotation) will drive the forwardmotion of the shaft 150 in the distal direction. Stopping the motor 158will stop the forward advance of the shaft 150. Holding the motor 158 ata fixed position relative to the object to be penetrate and controllingthe motor will control the depth of penetration of the shaft 150.Furthermore, the motor 158 can be driven to advance incrementally in anintermittent, stepwise fashion. If desired, the motor 158 can beoperated to rotate in two directions to provide both forward andbackward motion for advancing and withdrawing the shaft 150.

FIG. 6B illustrates another embodiment in which the shaft can be drivento advance continually. In this embodiment, a shaft 150 (e.g., a needle)is affixed to a base 160. The base 160 (and therefore the shaft 150) isdriven to move in the forward, i.e., distal, direction by a rotor 162Athat engages the base 160 on the side such that rotating the rotor 162Awill move the base 160 and shaft 150 distally. The rotor 162A is drivenby the a motor 164. Another rotor 162B engages the base 160 on a sideopposite that of the rotor 162A for support. Either rotor 162A or rotor162B can be an idler rotor. The rotors 162A and 162B can engage the base160 by means of gears or by friction.

FIG. 7A shows an embodiment of a shaft-penetration apparatus of thepresent invention with reciprocative action for inserting the shaft intoa body. A shaft 150 is affixed to a link 166 actuated by linking arms168A, 168B. The linking arms 168A and 168B are pivotably connected toeach other. The linking arm 168B is pivotably connected off center tothe rotor 170 which in turn is driven by motor 172. Thus, the rotationof the rotor 170 results in a back and forth reciprocative movement ofthe linking arms 168A, 168B, which is translated to the shaft 150. Inaddition, the whole system can be move steadily forward distally toadvance the shaft 150 distally.

FIG. 7B shows an embodiment of a spring mechanism 174 that can be used,e.g., as the link 166. The shaft 150, supported on a base 152 is held bythe spring mechanism 174, which consists of a primary spring coil 176Aand a secondary spring coil 176B. The primary spring coil 176A andsecondary spring coil 176B are each held at one end by a ledge 178 of ahousing 180, which houses the spring coils and part of the base 152. Anend disk 177 is disposed at the proximal end of the spring coils 176A,176B and affixed to the base 152 by a rigid rod 180 that extends throughthe axis of the spring coils 176A, 176B. A hammer 181 (shown in portion)can be used to impact the end disk 177, which drives the shaft 150forward by means of rigid rod 180. After the impact, the springs 176Aand 176B can move the shaft backward. It is noted that one of thesprings 176A and 176B is optional and an alternative is to use only oneof them.

FIG. 8 shows an example of a piezoelectric driver 182 for producing areciprocative motion to drive a shaft for penetration. As in theaforementioned embodiments, a shaft 150 is affixed to a base 152, whichis attached to a piezoelectric vibrator 184. When energizedelectrically, the piezoelectric vibrator 184 will vibrate to move thebase 152 and the shaft 150 in a forward-backward motion. This wholevibrating driver system 182 can be advanced forward. Technique formaking and using piezoelectric vibrators are known in the art and can beeasily adopted for driving a shaft based on the present disclosure.

FIG. 9 shows a fluid mechanism for driving a reciprocative motion fordriving a shaft. Here, a shaft 150 is attached to a piston 186 that isallowed to slide inside a chamber (shown in the figure including hechamber 187A chamber 187B and the volume occupied by the piston 186) ina piston housing 188. A distal fluid conduit 190 distal to the piston186 allows a fluid to enter the chamber 187B to drive the pistonproximally, i.e., in a direction opposite to the distal direction. Atthe same time, preferably, a proximal fluid conduit inlet 192 proximalto the piston 186 can allow fluid to escape to facilitate the movementof the piston without building excessive pressure in the chamber 187A.Conversely, the proximal fluid conduit 192 can allow fluid to enter thechamber 187A to drive the piston distally while the distal fluid conduit190 allows fluid to escape. A common fluid inlet conduit 194, connectedto a multi-way valve 196 (e.g., three-way valve) can allow fluid toenter the proximal fluid conduit 192 or distal fluid conduit 190.Alternately admitting fluid into the chamber 187 proximal and distal tothe piston while at the same time releasing fluid on the opposite sideof the chamber will result in a reciprocative motion. To effect aprogressive advance of the shaft 150 at the distal direction, over time,more fluid can enter the proximal conduit 192 than the distal fluidconduit 190. Optionally, one or both of the chambers 187A and 187B canbe kept close to the environmental pressure so as to not put too muchstress on the structure of the mechanism. Alternatively, the wholemechanism shown in FIG. 9 can be advanced while it is reciprocativelymoving. A gas or a liquid can be used as the fluid for entering thechamber 187 to drive the progressive movement of the shaft 150.

The present invention can also find application in which the shaftadvances in a sawing action. An example of such an apparatus has anelongated structure for conducting blood with an outer tube and an innertube. The tubes associated with each other in concentric, closeproximity with low friction between them so that one can slide on theother freely. The distal ends of the tubes each has a circular sharpcutting edge. The tubes are driven to move longitudinallyreciprocatively such that alternately the sharp ring-shaped end of theouter tube is more distal than the end of the inner tube and the sharpring-shaped end of the inner tube is more distal than the end of theouter tube. In this way, the elongated structure can penetrate’ thetissue by a sawing action by the two tubes.

The driving mechanism for driving the shaft (e.g., needle, lancet, andthe like) of the present invention can be controlled by feedbackelectronics circuits that inhibit further shaft penetration once aproper depth of fluid material has been sensed. Typically, such acontrol system would be placed in the processor shown in FIG. 1. Acontrol algorithm for such a control-system is illustrated by anexemplary flow diagram shown in FIG. 10. In this algorithm, onceinitiated, the driver will move the shaft one step at a time to advancean incremental distance until either the impedance measured indicatethat the shaft has reach the target area (e.g. blood in capillary bed bya needle penetrating skin) or until the predetermined depth ofpenetration has been reached, at which point the driver will be stoppedby the control circuitry. Whether the proper depth has been reached bythe shaft can be determined by the magnitude of the change in impedanceor the magnitude of the impedance itself. The selection of impedancevalues or jump values can be done by one skilled in the art. A processorcan be provided external to the object that is being penetrated by theshaft for gathering and processing the impedance information todetermine whether the desired depth has been achieved, as well as tocontrol the movement of the shaft. Electrical devices and electricalcircuits for processing information, controlling drivers, as well asthose for sensing electrical impedance are known in the art. Suchdevices and circuits could include computers or microprocessors.

To use the apparatus of the present for the optimal benefit, preferably,the change in impedance with the depth of penetration is determinedexperimentally. After a few times of sampling, the apparatus can beadjusted to set the depth of insertion in relation to impedance changesto fit the particular preferences (e.g., penetration depth and samplevolume) of that individual. Another way would be to obtain impedancedata versus depth specifically for an individual patient and, aftertaking data from a plurality of blood samples, use the resultant datafor setting the depth of penetration for future blood samples.

Although the preferred embodiment of the present invention has beendescribed and illustrated in detail, it is to be understood that aperson skilled in the art can make modifications within the scope of theinvention. For example, it is understood that the present invention canbe applied in a wide variety of medical or nonmedical areas, e.g.,drilling in the ground for water, gas, petroleum, etc.

What is claimed is:
 1. A tissue penetrating device for sampling bodyfluid from a patient and for use with a penetrating member, the devicecomprising: a driver coupled to provide force that moves saidpenetrating member along a path into the tissue; a controller coupled tothe driver, the controller configured to control the driver and a motionof the penetrating member to reduce over-penetration by the penetratingmember with reduced patient discomfort and wherein the driver iselectrically controlled such that when a desired depth has beenachieved, the driver is automatically stopped and a depth of penetrationoptimized so that minimal penetration is used to for drawing blood froma patient with an infliction of a minimal amount of pain and wound size.2. The device of claim 1, further comprising: an electronic feedbackloop circuit in electrical communication with a sensing device and thecontroller to inhibit penetrating member penetration once a penetrationdepth of the penetrating member has been sensed by the sensing device.3. The device of claim 1, wherein the controller is configured toprovide for the penetrating member to enter a tissue site through a skinsurface at a velocity greater than an exit velocity from the tissuesite.
 4. The device of claim 1, wherein the controller provides controlof the electronic driver such that when a desired depth of penetrationat the tissue site by the penetrating has been achieved the electronicdriver is stopped automatically.
 5. The device of claim 1, wherein theelectrical driver includes a motor.
 6. The device of claim 1, whereinthe controller includes a microprocessor.
 7. The device of claim 6,wherein the controller has logic for directing the electrical driver toprovide force to drive the penetrating member into tissue and to provideforce to withdraw the penetrating member from tissue.
 8. A tissuepenetrating device for sampling body fluid from a patient and for usewith a penetrating member, the device comprising: an electrical drivercoupled to provide force that moves said penetrating member along a pathinto the tissue; a sensing device for use in controlling motion of thepenetrating member to penetrate the skin of the patient to a desireddepth of penetration that is sufficient to create a wound from whichblood flows from the wound and into an interior of the tissuepenetrating device for blood analysis, wherein at least a portion of thesensing device is coupled to move with the penetrating member as thepenetrating member advances into the tissue; a controller electricallycoupled to the electrical driver and sensing device, the controllerhaving logic for directing the electrical driver to provide force todrive the penetrating member into tissue and to provide force towithdraw the penetrating member from tissue, the controller configuredto receive a signal from the sensing device to control the electricaldriver and a motion of the penetrating member to reduce over-penetrationby the penetrating member with reduced patient discomfort and whereinthe driver is electrically controlled such that when a desired depth hasbeen achieved, the driver is automatically stopped and a depth ofpenetration optimized so that minimal penetration is used to for drawingblood from a patient with an infliction of a minimal amount of pain andwound size.
 9. The device of claim 8, further comprising: an electronicfeedback loop circuit in electrical communication with the sensingdevice and the controller to inhibit penetrating member penetration oncea penetration depth of the penetrating member has been sensed by thesensing device.
 10. The device of claim 9, wherein the controller isconfigured to provide for the penetrating member to enter a tissue sitethrough a skin surface at a velocity greater than an exit velocity fromthe tissue site.
 11. The device of claim 8, wherein the electricaldriver in combination with the controller provides an electronic stop tostop travel of the penetrating member in the tissue site.
 12. A tissuepenetrating device for sampling blood from the skin of a patient, thedevice comprising: an electrical driver configured to provide driveforce to a penetrating member, wherein said penetrating member iscoupled to a sensing device; a controller electrically coupled to theelectrical driver and configured to control a motion of the penetratingmember to penetrate the skin of the patient to a desired depth ofpenetration that is sufficient to create a wound from which blood flowsfrom the wound without flowing through the penetrating member and intoan interior of the tissue penetrating device for blood analysis withreduced patient discomfort from the creation of the wound; an electronicfeedback loop in electrical communication with the controller forinhibiting penetrating member penetration once a desired penetrationdepth of the penetrating member has been reached and control theelectrical driver and a motion of the penetrating member to reduceover-penetration by the penetrating member with reduced patientdiscomfort sensed by the sensing device member; and wherein theelectrical driver is used to stop the penetrating member in the tissuesite and the driver is electrically controlled such that when a desireddepth has been achieved, the driver is automatically stopped and a depthof penetration optimized so that minimal penetration is used to fordrawing blood from a patient with an infliction of a minimal amount ofpain and wound size.
 13. The device of claim 12, wherein the electricaldriver includes a motor.
 14. The device of claim 12, wherein thecontroller includes a microprocessor.
 15. A tissue penetrating devicefor sampling blood from a tissue site of a patient, comprising, anelectrical driver including a sensing device, said electrical driverproviding drive force, and configured to be coupled to and drive apenetrating member for penetrating a skin surface of a patient, whereinmotion of the penetrating member results in motion of at least onecomponent of the sensing device relative to the housing; a controllercoupled to the electrical driver and configured to control a motion ofthe penetrating member; an electronic feedback loop circuit inelectrical communication with the sensing device and the controller forinhibiting penetration of the penetrating member when a desiredpenetration depth of the penetrating member has been sensed by thesensing device member to penetrate the skin of the patient to a desireddepth of penetration in the tissue site with reduced patient discomfortfrom the creation of the wound; and wherein using the electrical driveris used to stop the penetrating member in the tissue, the driver iselectrically controlled such that when a desired depth has beenachieved, the driver is automatically stopped and a depth of penetrationoptimized so that minimal penetration is used to for drawing blood froma patient with an infliction of a minimal amount of pain and wound size.16. The device of claim 15, wherein the electrical driver includes amotor.
 17. The device of claim 15, wherein the controller includes amicroprocessor.